Journal of the Korea Institute of Information and Communication Engineering (한국정보통신학회논문지)

The Korea Institute of Information and Commucation Engineering (한국정보통신학회)
권호 표지
DOI QR코드

DOI QR Code

Development of AUV's Waypoint Guidance Law and Verification by HILS

무인잠수정의 경로점 유도 법칙 설계 및 HILS 검증

  • Received : 2020.09.13
  • Accepted : 2020.10.02
  • Published : 2020.11.30
Download PDF
⟨ Previous Next ⟩

Abstract

This paper proposes a waypoint guidance algorithm for the Autonomous Underwater Vehicle(AUV). The proposed simplified guidance algorithm is presented, which is combined LOS guidance and cross-track guidance for path following. Cross-track error is calculated using the position of the AUV and reference path. LOS guidance and cross-track guidance are appropriately changed according to cross-track error. And the stability of the system has been improved using variable cross-track control gain by cross-track error. Also, in this paper, navigation hardware in-the loop simulation(HILS) is implemented to verify navigation algorithm of AUV that performs combined navigation using inertial navigation device and doppler velocity log(DVL). Finally, we design integrated system HILS (including navigation HILS) for performance verification of guidance algorithm of the autonomous underwater vehicle. By comparing the sea test result with HILS result, the proposed guidance algorithm and HILS configuration were confirmed be correct.

본 논문에서는 수중에서 운동하는 무인잠수정의 경로점 유도법칙을 제안한다. 시선각 유도법칙과 수선경로 오차를 줄여가는 경로추종 유도법칙을 조합하여 효과적인 경로점 유도법칙을 설계하였고, 수선경로 오차의 거리에 따라 제어이득을 변화시켜 시스템의 안정성을 증가시켰다. 또한, 관성항법장치와 도플러속도계를 이용한 복합항법 시스템의 성능을 확인할 수 있는 HILS를 구성하였다. 같은 경로점 및 목표점을 입력 후 HILS 수행결과와 실해역 주행시험 결과를 비교하여, 제안한 유도법칙 및 HILS가 올바르게 구성되어 있음을 확인하였다.

Keywords

References

  1. J. Yuh, "Design and Controlled Autonomous Underwater Robots : A Survey," Kluwer Academic Publishers, Printed in Netherlands, Autonomous Robots, pp. 7-24, 2000.
  2. C. G. Lee, J. W. Jang, and J. H. Kim, "Stochastic Model Predictive Control for Motion Control of an Underactuated Underwater Vehicle," Journal of Institude of Control, Robotics and Systems, vol. 26, no. 5, pp. 373-378, 2020. https://doi.org/10.5302/J.ICROS.2020.19.0196
  3. J. H. Moon, H. J. Lee, M. H. Kim, H. G. Park, and T. Y. Kim, "T-S Fuzzy Model-Based H_/H∞ Fault Detection of Larger Displacement Unmanned Underwater Vehicle," Journal of Institute of Control, Robotics and Systems, vol. 23, no. 3, pp. 172-178, 2017. https://doi.org/10.5302/J.ICROS.2017.16.0214
  4. T. I. Fossen, Guidance and Control od Ocean Vehicle, Jhon Wiley & Sons, New York, NY, USA, 1994.
  5. M. Breivik and T. I. Fossen, "Line-of-sight path following for marine surface vessels," Proc. of the IFAC, 2004
  6. S. H. Baek and S. K. Hong, "A Study on Flight Trajectory Generations and Guidance/Control Laws: Validation through HILS," Journal of Institute of Control, Robotics and Systems, vol. 14, no. 12, pp. 1238-1243, 2008. https://doi.org/10.5302/J.ICROS.2008.14.12.1238
  7. J. H. Hwang, S. W. Park, M. H. Kim, S. Y. Lee, and S. K. Hong "Depth Controller Design using Fuzzy Gain Scheduling Method of a Autonomous Underwater Vehicle - Verification by HILS," Journal of Institute of Control, Robotics and Systems, vol. 19, no. 9, pp. 791-796, 2013. https://doi.org/10.5302/J.ICROS.2013.13.9024
  8. J. S. Choi and Y. S. Lee, "The Implementation of a Hardware-In-The-Loop Simulator for an Inverted Pendulum System Using Open-Source Hardware," Journal of Institude of Control, Robotics and Systems, vol. 23, no. 2, pp. 117-125, 2017. https://doi.org/10.5302/J.ICROS.2017.17.0002
  9. T. S. Yoo, M. H. Kim, J. H. Hwang, and S. I. Yoon, "Development of Navigation HILS System for Integrated Navigation Performance Analysis of Large Diameter Unmanned Underwater Vehicle," Journal of Ocean Engineering and Technology, vol. 30, no. 5, pp. 367-373, 2016. https://doi.org/10.5574/KSOE.2016.30.5.367
  10. P. M. Lee, H. W. Shim, H. Baek, B. H. Kim, J. Y. Park, B. H. Jun, and S. Y. Yoo, "Navigation System for a Deep-sea ROV Fusing USBL, DVL, ang Heading Measurements," Journal of Ocean Engineering and Technology, vol. 31, no. 4, pp. 315-323, 2017. https://doi.org/10.26748/KSOE.2017.08.31.4.315